116 citations · 157 across the 8 of their papers we have counts for
8 papers · 1 filter
Towards Robust Optimization-Based Autonomous Dynamic Soaring with a Fixed-Wing UAV
Marvin Harms, Jaeyoung Lim, David Rohr +3
Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We p…
Autonomous Active Mapping in Steep Alpine Environments with Fixed-wing Aerial Vehicles
Jaeyoung Lim, Florian Achermann, Nicholas Lawrance +1
Monitoring large scale environments is a crucial task for managing remote alpine environments, especially for hazardous events such as avalanches. One key information for avalanche…
Safe Low-Altitude Navigation in Steep Terrain with Fixed-Wing Aerial Vehicles
Jaeyoung Lim, Florian Achermann, Rik Girod +2
Fixed-wing aerial vehicles provide an efficient way to navigate long distances or cover large areas for environmental monitoring applications. By design, they also require large op…
Power-based Safety Layer for Aerial Vehicles in Physical Interaction using Lyapunov Exponents
Eugenio Cuniato, Nicholas Lawrance, Marco Tognon +1
As the performance of autonomous systems increases, safety concerns arise, especially when operating in non-structured environments. To deal with these concerns, this work presents…
Towards 6DoF Bilateral Teleoperation of an Omnidirectional Aerial Vehicle for Aerial Physical Interaction
Mike Allenspach, Nicholas Lawrance, Marco Tognon +1
Bilateral teleoperation offers an intriguing solution towards shared autonomy with aerial vehicles in contact-based inspection and manipulation tasks. Omnidirectional aerial robots…
Under the Sand: Navigation and Localization of a Micro Aerial Vehicle for Landmine Detection with Ground Penetrating Synthetic Aperture Radar
Rik Bähnemann, Nicholas Lawrance, Lucas Streichenberg +5
Ground penetrating radar mounted on micro aerial vehicle (MAV) is a promising tool to assist humanitarian landmine clearance. However, the quality of synthetic aperture radar image…
Online Informative Path Planning for Active Information Gathering of a 3D Surface
Hai Zhu, Jen Jen Chung, Nicholas R. J. Lawrance +2
This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface…
Revisiting Boustrophedon Coverage Path Planning as a Generalized Traveling Salesman Problem
Rik Bähnemann, Nicholas Lawrance, Jen Jen Chung +3
In this paper, we present a path planner for low-altitude terrain coverage in known environments with unmanned rotary-wing micro aerial vehicles (MAVs). Airborne systems can assist…